We developed a new algorithm called "Dynamic Dominance". Dynamic dominance is an expansion of the dominance algorithm; we planned to minimize collisions and increase time efficiency for small amounts of robots. We decided to improve collision detection by increasing the radius interaction and enhance the process of pre-collision detection, which means that we want to increase the distance .R. allowable between collisions.
As we learned from the data analysis, an increase in radial size of a robot will involve more interaction with robots and slowing the time efficiency of the algorithms. So in order to maintain time efficiency we implemented a more discrete method called "pre-collision detection". Pre-collision detection versus radial collision detection refers to means of finding intersecting paths that involve an ensuing collision between robots. Radial collisions refer to interacting networks of robots whose paths may or may not intersect. Now the question is how should the robot differentiate between radial collision and pre-collision. Our group came up with the following types of pre-collision detection: Stack-Screen, Cross-Sectional Area, Time Overlap, and Collision Counter.